If you are using a PCI card, I would try going back to the smart term drivers. Also, since there are no encoders, you really do have to use the reference positions.
What kind of problems with the SmartTerm drivers? What firmware does your Galil have? It is possible it needs updating. And it could have a special firmware on it from Cam Soft (just throwing that possibility out there as I have no idea if they used a special one or not).
Also, what model Galil do you have?
Steve